КФУ. Карточка публикации. Evaluation of visual slam methods in usar applications using ros/gazebo simulation

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EVALUATION OF VISUAL SLAM METHODS IN USAR APPLICATIONS USING ROS/GAZEBO SIMULATION

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2021

Язык

английский

Авторы, сотрудники КФУ

Лавренов Роман Олегович, автор

Сафин Рамиль Набиуллович, автор

Библиографическое описание на языке оригинала

Safin R, Lavrenov R, Martinez-Garcia E.A., Evaluation of visual slam methods in usar applications using ros/gazebo simulation//Smart Innovation, Systems and Technologies. - 2021. - Vol.187, Is.. - P.371-382.

Аннотация

The problem of determining the position of a robot and at the same time building the map of the environment is referred to as SLAM. A SLAM system generally outputs the estimated trajectory (a sequence of poses) and the map. In practice, it is hard to obtain ground-truth for the map; hence, only trajectory ground-truth is considered. There are various works that provide datasets to evaluate SLAM algorithms in different scenarios including sensor configurations, robots, and environments. Dataset collection in a real-world environment is a complicated task, which requires an elaborate sensor and robot configuration. Different SLAM systems demand various sensors resulting in the problem of finding an appropriate dataset for their evaluation. Thus, in this paper, a solution that is based on ROS/Gazebo simulations is proposed. Two indoor environments with flat and uneven terrain to evaluate laser range and visual SLAM systems are created. Changing the sensor configuration and the environment does not require an elaborate setup. The results of the evaluation for two popular SLAM methods—ORB-SLAM2 and RTAB-Map—are presented.

Ключевые слова

SLAM, ROS, Gazebo, simulation

Название журнала

Smart Innovation, Systems and Technologies

URL

https://www.scopus.com/inward/record.uri?eid=2-s2.0-85091145716&doi=10.1007%2f978-981-15-5580-0_30&partnerID=40&md5=7070300ff0fef3289914f7a5b2562518

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https://repository.kpfu.ru/?p_id=240254

Файлы ресурса

Название файла	Размер (Мб)	Формат
Chapter_ZR_2020___Safin.pdf	1,70	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Лавренов Роман Олегович	ru_RU
dc.contributor.author	Сафин Рамиль Набиуллович	ru_RU
dc.date.accessioned	2021-01-01T00:00:00Z	ru_RU
dc.date.available	2021-01-01T00:00:00Z	ru_RU
dc.date.issued	2021	ru_RU
dc.identifier.citation	Safin R, Lavrenov R, Martinez-Garcia E.A., Evaluation of visual slam methods in usar applications using ros/gazebo simulation//Smart Innovation, Systems and Technologies. - 2021. - Vol.187, Is.. - P.371-382.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/?p_id=240254	ru_RU
dc.description.abstract	Smart Innovation, Systems and Technologies	ru_RU
dc.description.abstract	The problem of determining the position of a robot and at the same time building the map of the environment is referred to as SLAM. A SLAM system generally outputs the estimated trajectory (a sequence of poses) and the map. In practice, it is hard to obtain ground-truth for the map; hence, only trajectory ground-truth is considered. There are various works that provide datasets to evaluate SLAM algorithms in different scenarios including sensor configurations, robots, and environments. Dataset collection in a real-world environment is a complicated task, which requires an elaborate sensor and robot configuration. Different SLAM systems demand various sensors resulting in the problem of finding an appropriate dataset for their evaluation. Thus, in this paper, a solution that is based on ROS/Gazebo simulations is proposed. Two indoor environments with flat and uneven terrain to evaluate laser range and visual SLAM systems are created. Changing the sensor configuration and the environment does not require an elaborate setup. The results of the evaluation for two popular SLAM methods—ORB-SLAM2 and RTAB-Map—are presented.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	SLAM	ru_RU
dc.subject	ROS	ru_RU
dc.subject	Gazebo	ru_RU
dc.subject	simulation	ru_RU
dc.title	Evaluation of visual slam methods in usar applications using ros/gazebo simulation	ru_RU
dc.type	Статьи в зарубежных журналах и сборниках	ru_RU